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Autonomous Vehicle Navigation With Dynamic Adaptation and Complete Coverage of Unknown Environments

[+] Author Affiliations
Xin Jin, Jacqueline M. Luff, Shalabh Gupta, Asok Ray

The Pennsylvania State University, University Park, PA

Paper No. DSCC2010-4142, pp. 241-248; 8 pages
  • ASME 2010 Dynamic Systems and Control Conference
  • ASME 2010 Dynamic Systems and Control Conference, Volume 1
  • Cambridge, Massachusetts, USA, September 12–15, 2010
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-4417-5 | eISBN: 978-0-7918-3884-6
  • Copyright © 2010 by ASME


This paper presents a Statistical Mechanics-inspired navigation algorithm with dynamic adaptation and complete coverage of unknown environments, which is built upon the concept of generalized Ising model. The algorithm enables autonomous vehicles to cover all areas in the environment, avoid unknown obstacles and adapt to target neighborhoods. Potential applications of this algorithm are humanitarian de-mining, hazard detection and floor-cleaning tasks. The algorithm has been validated on a Player/Stage simulator with an example of minesweeping.

Copyright © 2010 by ASME
Topics: Vehicles , Navigation



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